diff --git a/dataset_info/Agilex_Split_Aloha_close_button.yaml b/dataset_info/Agilex_Split_Aloha_close_button.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e409a4a19664daf988cfb857ef4a446dbe90135f --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_close_button.yaml @@ -0,0 +1,474 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_close_button +dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: button + level1: electric_appliance + level2: button + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- press the button switch with the left gripper to turn off the button. +- left gripper press grey cloth button switch turn off button. +- left gripper press cyan cloth button switch turn off button. +- press the button switch with the right claw to turn off the button. +- right gripper press grey cloth button switch turn off button. +- right gripper press cyan cloth button switch turn off button. +sub_tasks: +- subtask: end + subtask_index: 0 +- subtask: Press the first switch from the left on the right side. + subtask_index: 1 +- subtask: Press the button to turn off + subtask_index: 2 +- subtask: 'null' + subtask_index: 3 +atomic_actions: +- press +robot_name: +- Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 60 + total_frames: 18136 + fps: 50 + total_tasks: 4 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 1.78 GB +frame_num: 18136 +frame_range: 100K +dataset_size: 1.78 GB +data_structure: 'Cobot_Magic_close_button_qced_hardlink/ + + |-- .cache + + | `-- huggingface + + | |-- download + + | |-- .gitignore + + | `-- CACHEDIR.TAG + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (48 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- .gitattributes + + `-- README.md' +splits: + train: 0:59 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 50 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_move_plate.yaml b/dataset_info/Agilex_Split_Aloha_move_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d28d82d580419e684f7fa7a82cfe5bcd2e392e3b --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_move_plate.yaml @@ -0,0 +1,493 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_move_plate +dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c +scene_type: + level1: household + level2: restaurant + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: plate + level1: container + level2: plate + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the plate and place it in another position on the table. +sub_tasks: +- subtask: Pick the container that can hold fruits + subtask_index: 0 +- subtask: Move the picked object to the right side of the table + subtask_index: 1 +- subtask: 'null' + subtask_index: 2 +atomic_actions: +- grasp +- pick +- place +robot_name: Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 99 + total_frames: 25309 + fps: 30 + total_tasks: 3 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 459.94 MB +frame_num: 25309 +frame_range: 100K +dataset_size: 459.94 MB +data_structure: 'Cobot_Magic_move_plate_qced_hardlink/ + + |-- .cache + + | `-- huggingface + + | |-- download + + | |-- .gitignore + + | `-- CACHEDIR.TAG + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- logs + + | `-- collect + + | `-- collect_20260529121930.log + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- .gitattributes + + `-- README.md' +splits: + train: 0:98 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_turn_off_the_desk_lamp.yaml b/dataset_info/Agilex_Split_Aloha_turn_off_the_desk_lamp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ffa10a5be8d1863c6b4a68c262924df4cb985be1 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_turn_off_the_desk_lamp.yaml @@ -0,0 +1,472 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_turn_off_the_desk_lamp +dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: desk_lamp + level1: daily_necessities + level2: desk_lamp + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- turn off the desk lamp on the blue coffee tablecloth by hand. +- turn off the desk lamp on the light coffee tablecloth by hand. +- turn off the desk lamp on the green coffee tablecloth by hand. +- turn off the desk lamp on the grey coffee tablecloth by hand. +- turn off the table lamp on the pink coffee tablecloth by hand. +- turn off the desk lamp on the white desktop by hand. +sub_tasks: +- subtask: use the left arm to press the button switch on the lamp holder + subtask_index: 0 +- subtask: use the right arm to press the button switch on the lamp holder + subtask_index: 1 +- subtask: 'null' + subtask_index: 2 +atomic_actions: +- pressbutton +robot_name: +- Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 398 + total_frames: 121821 + fps: 30 + total_tasks: 3 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 8.43 GB +frame_num: 121821 +frame_range: 1M +dataset_size: 8.43 GB +data_structure: 'Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/ + + |-- .cache + + | `-- huggingface + + | |-- download + + | |-- .gitignore + + | `-- CACHEDIR.TAG + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (386 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- .gitattributes + + `-- README.md' +splits: + train: 0:397 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Split_Aloha_turn_on_the_desk_lamp.yaml b/dataset_info/Agilex_Split_Aloha_turn_on_the_desk_lamp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dbc0f240bc19e0f9e2559a3c58d2a6bde4c9d29 --- /dev/null +++ b/dataset_info/Agilex_Split_Aloha_turn_on_the_desk_lamp.yaml @@ -0,0 +1,472 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Split_Aloha_turn_on_the_desk_lamp +dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 +scene_type: + level1: household + level2: null + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: desk_lamp + level1: daily_necessities + level2: desk_lamp + level3: null + level4: null + level5: null +- object_name: tablecloth + level1: clothing + level2: tablecloth + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- turn on the table lamp on the blue tablecloth with your hand. +- turn on the table lamp on the light coffee tablecloth with your hand. +- turn on the table lamp on the green tablecloth with your hand. +- turn on the desk lamp on the grey tablecloth with your hand. +- turn on the table lamp on the pink tablecloth with your hand. +- turn on the desk lamp on the white desktop with your hand. +sub_tasks: +- subtask: use the left arm to press the button switch on the lamp holder + subtask_index: 0 +- subtask: use the right arm to press the button switch on the lamp holder + subtask_index: 1 +- subtask: 'null' + subtask_index: 2 +atomic_actions: +- pressbutton +robot_name: +- Agilex_Split_Aloha +end_effector_type: two_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_front_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_front_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 449 + total_frames: 146182 + fps: 30 + total_tasks: 3 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 3 + dataset_size: 8.18 GB +frame_num: 146182 +frame_range: 1M +dataset_size: 8.18 GB +data_structure: 'Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/ + + |-- .cache + + | `-- huggingface + + | |-- download + + | |-- .gitignore + + | `-- CACHEDIR.TAG + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (437 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- .gitattributes + + `-- README.md' +splits: + train: 0:448 +features: + observation.images.cam_front_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_front_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Unitree_G1edu-u3_stack_bowls.yaml b/dataset_info/Unitree_G1edu-u3_stack_bowls.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75260e786ab0c1974f1a2179c26fc5ca5caa07ec --- /dev/null +++ b/dataset_info/Unitree_G1edu-u3_stack_bowls.yaml @@ -0,0 +1,473 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Unitree_G1edu-u3_stack_bowls +dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: container + level2: bowl + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- the left hand pick up the bowl on the left side of the table and place it on top + of the middle bowl, the right hand pick up the bowl on the right side of the table + and place it on top of the middle bowls. +- the right hand pick up the bowl on the right side of the table and place it on top + of the middle bowl, the left hand pick up the bowl on the left side of the table + and place it on top of the middle bowls. +sub_tasks: +- subtask: Place the bowl on the right onto the bowl in the middle with right gripper + subtask_index: 0 +- subtask: Grasp the bowl on the right with the right gripper + subtask_index: 1 +- subtask: Grasp the bowl on the left with the left gripper + subtask_index: 2 +- subtask: End + subtask_index: 3 +- subtask: Static + subtask_index: 4 +- subtask: Abnormal + subtask_index: 5 +- subtask: Place the bowl on the left onto the bowl in the middle with left gripper + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Unitree_G1edu-u3 +end_effector_type: five_finger_end_effector +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_high_rgb +- color_left_wrist +- color_right_wrist +came_info: + cam_high_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_left_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + color_right_wrist: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +- subtasks.jsonl +statistics: + total_episodes: 261 + total_frames: 166122 + fps: 30 + total_tasks: 8 + total_videos: 783 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 6.98 GB +frame_num: 166122 +frame_range: 1M +dataset_size: 6.98 GB +data_structure: 'G1edu-u3_stack_bowls_qced_hardlink/ + + |-- .cache + + | `-- huggingface + + | |-- download + + | |-- .gitignore + + | `-- CACHEDIR.TAG + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | |-- subtask_annotations.jsonl + + | `-- subtasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (249 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_high_rgb + + | |-- observation.images.color_left_wrist + + | `-- observation.images.color_right_wrist + + |-- .gitattributes + + `-- README.md' +splits: + train: 0:260 +features: + observation.images.cam_high_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_left_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.color_right_wrist: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + action: + dtype: float32 + shape: + - 28 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_ori_x + - left_eef_ori_y + - left_eef_ori_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_ori_x + - right_eef_ori_y + - right_eef_ori_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_high_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_high_rgb/episode_000000.mp4 diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index 4919df4eda3d8631ac4d9fed16102ba2294887a0..331818831eb83538314d2c627db6bdee9aa5af21 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eab816ea525b13d32d25f20f93526eac8f90fcd3677e2df9791e35abd91d7234 -size 11217530 +oid sha256:6720b1cffe2a54f3d8c0e0804d2b760277ef192456c6a34248c64b6a61585cf9 +size 11293174 diff --git a/info/data_index.json b/info/data_index.json index 0d1c5d0b1c8e9c9a7d9cb9887c1cfc9da970dc77..bc67a273c6a5ee86dd96249024ff3b1a38bc046f 100644 --- a/info/data_index.json +++ b/info/data_index.json @@ -118,6 +118,7 @@ "Agilex_Split_Aloha_clean_up_the_tableware", "Agilex_Split_Aloha_clear_the_desktop", "Agilex_Split_Aloha_close_book", + "Agilex_Split_Aloha_close_button", "Agilex_Split_Aloha_cube_reset", "Agilex_Split_Aloha_cut_banana", "Agilex_Split_Aloha_desktop_organization", @@ -130,6 +131,7 @@ "Agilex_Split_Aloha_mobile_cube", "Agilex_Split_Aloha_mobile_cube_blackboard", "Agilex_Split_Aloha_move_beverage", + "Agilex_Split_Aloha_move_plate", "Agilex_Split_Aloha_move_the_ball", "Agilex_Split_Aloha_move_the_ball_and_the_cube_block", "Agilex_Split_Aloha_move_the_ball_interference", @@ -162,7 +164,9 @@ "Agilex_Split_Aloha_the_box_stores_table_tennis_balls", "Agilex_Split_Aloha_the_plate_holds_the_fruit", "Agilex_Split_Aloha_the_plate_holds_the_vegetables", + "Agilex_Split_Aloha_turn_off_the_desk_lamp", "Agilex_Split_Aloha_turn_on_the_bulb", + "Agilex_Split_Aloha_turn_on_the_desk_lamp", "Agilex_Split_Aloha_twist_bottle_cap", "Agilex_Split_Aloha_vase_storage_flower", "Agilex_Split_Aloha_water_bottle_storage", @@ -665,7 +669,8 @@ "Unitree_G1edu-u3_put_the_toy_ap", "Unitree_G1edu-u3_put_the_water_bottle_aq", "Unitree_G1edu-u3_put_the_water_bottle_on_the_table_d", + "Unitree_G1edu-u3_stack_bowls", "Unitree_G1edu-u3_tray_storage_lemon_a" ], - "count": 666 + "count": 671 } \ No newline at end of file diff --git a/info/download_stats.json b/info/download_stats.json 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